B. Passenberg, M. Sobotka, O. Stursberg, M. Buss, and P. E. Caines, “An Algorithm for Discrete State Sequence and Trajectory Optimization for Hybrid Systems with Partitioned State Space,” in 49th IEEE Conference on Decision and Control, vol. 2010, IEEE, Ed. Atlanta, GA, USA: IEEE, 2010, pp. 4223–4229.
Abstract
An algorithm for hybrid optimal control is proposed that varies the discrete state sequence based on gradient information during the search for an optimal trajectory. The algorithm is developed for hybrid systems with partitioned state space. It uses a version of the hybrid minimum principle that allows optimal trajectories to pass through intersections of switching manifolds, which enables the algorithm to vary the sequence. Consequently, the combinatorial complexity of former algorithms can be avoided, since not each possible sequence has to be investigated separately anymore. The convergence of the algorithm is proven and a numerical example demonstrates the efficiency of the algorithm.
BibTex
@INPROCEEDINGS{PSS10,
author = {B. Passenberg and M. Sobotka and O. Stursberg and M. Buss and P.E. Caines},
title = {{An Algorithm for Discrete State Sequence and Trajectory Optimization of Hybrid Systems with Partitioned State Space}},
booktitle = {$49^{th}$ IEEE Conf. on Decision and Control},
year = {2010},
pages = {4223-4229},
comment = {noch nicht gemeldet, ISBN: ?, ? Normseiten}
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